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检索条件"任意字段=Sensor Fusion: Architectures, Algorithms and Applications II"

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Towards a unified architecture for mapping static environments 17

Towards a unified architecture for mapping static environmen...

引用

17th International Conference on Information fusion (fusion)

作者： Kubertschak, Tim Maehlisch, Mirko Wuensche, Hans-Joachim AUDI AG I EE 31 D-85045 Ingolstadt Germany Univ Bundeswehr Munchen TAS D-85577 Neubiberg Germany

ISBN: (纸本)9781479916344

sensor fusion systems are becoming more and more important in automotive applications, especially for future driver assistance systems and autonomous driving. While it was sufficient to use single sensors in early driving assistance systems, future systems will rely on several sensors with different measurement principles. The probably conflicting measurements need to be fused to retrieve a complete picture of the current surroundings. However, an increased number of sensors leads to difficulties while incorporating their measurements, since every sensor provides its data via special interfaces. This inconvenience of current sensor fusion architectures has been solved for moving objects. A fusion architecture based on a generic interface the object list - has been developed over the last years. It allows an easy use of additional sensors as long as they provide their measurements as object lists. Similar solutions for static environments are rare, but the recent proposal of the Fences approach [1] is promising. This work shows, how sensors and occupancy grids are represented in the Fences-architecture. Steps and algorithms are presented to transform sensor reading into Fences as well as extracting Fences from common grid-based strategies for mapping static environments. The algorithms are applied to the conversion of ultrasonic sensor readings and LiDAR measurements to Fences. Furthermore, the construction of Fences from Bayesian occupancy grids is presented.

关键词： Advanced Driving Assistance Systems Multisensor Data fusion Static Environment Unified Architecture

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Cluster-Based Time Synchronization Protocol for Wireless sensor Networks

Cluster-Based Time Synchronization Protocol for Wireless Sen...

引用

14th International Conference on algorithms and architectures for Parallel Processing (ICA3PP)

作者： Zhang, Jian Lin, Shiping Liu, Dandan Wuhan Univ Comp Sch Wuhan 430072 Peoples R China

ISBN: (纸本)9783319111971;9783319111964

Time synchronization is one of the most important premises for many applications in wireless sensor networks, including data fusion, target tracking, military surveillance, etc. Existing protocols generally suffered from higher energy consumption, worse accuracy or applicable only in small wireless sensor networks. In this paper, we propose a novel cluster based time synchronization method for large-scale wireless sensor networks. First, a cluster tree is constructed as the backbone. Then, after network clustering is completed, different time synchronization mechanisms are applied within cluster head nodes and cluster members, respectively. The theoretical analysis and simulation results show that the proposed algorithm can effectively reduce energy consumption comparing to existing protocols, while it also achieves the high accuracy of time synchronization.

关键词： Time synchronization clustering energy efficient wireless sensor networks

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Eliminating Mutual Views in fusion of Ranging and RGB-D Data From Robot Teams Operating in Confined Areas

Eliminating Mutual Views in Fusion of Ranging and RGB-D Data...

引用

Conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Lyons, Damian M. Shrestha, Karma Fordham Univ Robot & Comp Vis Lab Bronx NY 10458 USA

ISBN: (纸本)9781628410587

We address the problem of fusing laser and RGB-Data from multiple robots operating in close proximity to one another. By having a team of robots working together, a large area can be scanned quickly, or a smaller area scanned in greater detail. However, a key aspect of this problem is the elimination of the spurious readings due to the robots operating in close proximity. While there is an extensive literature on the mapping and localization aspect of this problem, our problem differs from the dynamic map problem in that it involves at one kind of transient map feature, robots viewing other robots, and we know that we wish to completely eliminate all such mutual views. In prior work, we investigated the problem of fusing laser data from multiple robots in such a manner as to reject this spurious data from other robots. This work showed that a combination of local robot-based direction filtering and global map-based visibility filtering at a central map server removed 91% of the spurious data and resulted in a 98% quality improvement. In this paper we additionally consider the problem of fusing RGB-D data generated by a stereo-camera sensor. An approach based on a model of human visual attention is presented and compared with our prior work and with other related work. This approach is an order of magnitude faster than the prior work and yet rejects 73% of the spurious data producing a 55% quality improvement. Results are shown for this approach for two experiments with a two robot team operating in a confined indoor environment (4m x 4m).

关键词： cognitive robotics navigation sensory fusion

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TDA2X, A SOC OPTIMIZED FOR ADVANCED DRIVER ASSISTANCE SYSTEMS

TDA2X, A SOC OPTIMIZED FOR ADVANCED DRIVER ASSISTANCE SYSTEM...

引用

IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)

作者： Sankaran, Jagadeesh Zoran, Nikolic Texas Instruments Inc Dallas TX 13532 USA

ISBN: (纸本)9781479928934

TDA2X is an optimized scalable system on chip (SoC) solution from Texas Instruments that spans various application areas of ADAS such as front-camera, surround-view and the emerging area of sensor fusion. It accomplishes this through a focused set of heterogeneous processors, brought together in a scalable architecture with a rich set of integrated peripherals, providing an optimal mix of performance in a low power footprint for Advanced Driver Assistance Systems (ADAS) vision analytics. Computer vision algorithms across the various ADAS application systems have a rich variation and diversity in processing requirements along with the need to run them concurrently within challenging thermal budgets. A heterogeneous architecture with various programmable elements allows system developers to map various portions of the algorithms to the architectures that are best suited for the underlying task allowing maximizing system performance and reducing development time and effort in developing these complex systems. Scalability of the architecture by varying the number of cores and clock speeds of these heterogeneous architectures, allows for scalability in performance and power across low, mid and high end products with one software investment. A critical focus on functional safety across the cores and various memories is particularly essential given the mission critical nature of ADAS applications.

关键词： ADAS SoC Front Camera Surround View sensor fusion and Programmable Vision Accelerators

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Networked filtering and fusion in wireless sensor networks 1

引用

2014年

作者： Magdi S Mahmoud

ISBN: (数字)9781482250961

ISBN: (纸本)1482250969;9781482250961;9781482250978

By exploiting the synergies among available data, information fusion can reduce data traffic, filter noisy measurements, and make predictions and inferences about a monitored entity. Networked Filtering and fusion in Wireless sensor Networks introduces the subject of multi-sensor fusion as the method of choice for implementing distributed *** book examines the state of the art in information fusion. It presents the known methods, algorithms, architectures, and models of information fusion and discusses their applicability in the context of wireless sensor networks (WSNs). Paying particular attention to the wide range of topics that have been covered in recent literature, the text presents the results of a number of typical case *** with research supported elements and comprehensive references, this teaching-oriented volume uses standard scientific terminology, conventions, and notations throughout. It applies recently developed convex optimization theory and highly efficient algorithms in estimation fusion to open up discussion and provide researchers with an ideal starting point for further research on distributed estimation and fusion for *** book supplies a cohesive overview of the key results of theory and applications of information-fusion-related problems in networked systems in a unified framework. Providing advanced mathematical treatment of fundamental problems with information fusion, it will help you broaden your understanding of prospective applications and how to address such problems in *** reading the book, you will gain the understanding required to model parts of dynamic systems and use those models to develop distributed fusion control algorithms that are based on feedback control theory.

关键词： Computer Science Engineering & Technology

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Towards a unified architecture for mapping static environments

Towards a unified architecture for mapping static environmen...

引用

International Conference on Information fusion

作者： Tim Kubertschak Mirko Maehlisch Hans-Joachim Wuensche AUDI AG I/EE-31 Ingolstadt Germany

sensor fusion systems are becoming more and more important in automotive applications, especially for future driver assistance systems and autonomous driving. While it was sufficient to use single sensors in early driving assistance systems, future systems will rely on several sensors with different measurement principles. The probably conflicting measurements need to be fused to retrieve a complete picture of the current surroundings. However, an increased number of sensors leads to difficulties while incorporating their measurements, since every sensor provides its data via special interfaces. This inconvenience of current sensor fusion architectures has been solved for moving objects. A fusion architecture based on a generic interface - the object list - has been developed over the last years. It allows an easy use of additional sensors as long as they provide their measurements as object lists. Similar solutions for static environments are rare, but the recent proposal of the Fences-approach [1] is promising. This work shows, how sensors and occupancy grids are represented in the Fences-architecture. Steps and algorithms are presented to transform sensor reading into Fences as well as extracting Fences from common grid-based strategies for mapping static environments. The algorithms are applied to the conversion of ultrasonic sensor readings and LiDAR measurements to Fences. Furthermore, the construction of Fences from Bayesian occupancy grids is presented.

关键词： Uncertainty sensor phenomena and characterization Vehicles sensor fusion Acoustics Robot sensing systems

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architectures and algorithms for non-cooperative sense and avoid

Architectures and algorithms for non-cooperative sense and a...

引用

IEEE Metrology for Aerospace

作者： Anna Elena Tirri Giancarmine Fasano Domenico Accardo Antonio Moccia Department of Aerospace Engineering (DII) University of Naples “Federico II” Naples Italy

The paper focuses on research results relevant to non-cooperative sense and avoid based on different sensing architectures and algorithms. In particular, first a radar/electro-optical system is presented where real time data fusion is based on a central level scheme and an Extended Kalman Filter. It was validated in flight tests carried out in the framework of TECVOL project carried out by the Italian Aerospace Research Centre (CIRA) and the University of Naples “Federico ii”. In order to evaluate the impact of innovative technologies on system performance, solutions based on Particle Filtering are then introduced which have been developed and implemented in radar-only framework for off-line simulations, taking advantage from sensor data gathered in flight. Finally, algorithms relevant to vision-based sense and avoid are briefly presented, and preliminary results based on flight images in near collision scenarios are discussed.

关键词： Radar tracking Aircraft Filtering Atmospheric measurements Particle measurements Mathematical model

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Cooperative and Self Organizing Paradigm for Wide Area Synchronized Monitoring of Smart Grids: performance analysis in real operating scenarios

Cooperative and Self Organizing Paradigm for Wide Area Synch...

引用

IEEE International Instrumentation and Measurement Technology Conference (I2MTC)

作者： Capriglione, Domenico Ferrigno, Luigi Paciello, Vincenzo Pietrosanto, Antonio Vaccaro, Alfredo Univ Cassino DIEI I-03043 Cassino Italy Univ Salerno DIIn Fisciano Italy Univ Sannio Dept Engn Benevento Italy

ISBN: (纸本)9781467363860

Synchronized Wide-Area Monitoring Systems (WAMS) are very important in the development and the use of power system-wide measurements to avoid large disturbances and reduce the probability of catastrophic events. Typically in WAMS the global absolute time reference for sensors synchronization is obtained by satellite-based timing signals processing. Since these signals are extremely vulnerable to radiofrequency interference, effective countermeasures aimed at increasing the resilience of synchronized WAMS to external and internal interferences need to be designed. To this aim several synchronization approaches are explored in literature. In particular, to avoid the large volume of raw data involved in typical client-server architectures, many researchers are analyzing the possibility offered by decentralized architecture based on consensus policies. In this scenario many consensus-based synchronization methods are proposed in literature but the attention has rarely been paid to the influence factors that characterize real environments and real smart grid applications as: (i) the presence of hardware characterized by finite processing time, and finite resolution of nodes involved in the consensus procedure;(ii) the effect of typical clock instability as drift, jitter and wander;(iii) the effect of latencies and limited bandwidths available on a radio system or when common commercial wireless communication are adopted. All the above-mentioned influence factors can be thought of as causes of uncertainties that could affect the overall performance. This paper proposes a study these influence factors both in simulated and real scenarios. The final aim is to find an uncertainty model to evaluate and forecast the reliability and the quality of the time synchronization procedure.

关键词： Smart grid Consensus sensor Network Time Synchronization data fusion measurement uncertainty

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TDA2X, A SOC OPTIMIZED FOR ADVANCED DRIVER ASSISTANCE SYSTEMS

TDA2X, A SOC OPTIMIZED FOR ADVANCED DRIVER ASSISTANCE SYSTEM...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Jagadeesh Sankaran Nikolic Zoran Texas Instruments Incorporated

ISBN: (纸本)9781479928941

关键词： advanced driver assistance systems (ADAS) ARCHITECTURE Scalability core Building construction extensible architecture Drivers system-on-chip program area sensor fusion end products development time Timing devices System performance

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Real-time tracking and fast retrieval of persons in multiple surveillance cameras of a shopping mall

Real-time tracking and fast retrieval of persons in multiple...

引用

Conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Bouma, Henri Baan, Jan Landsmeer, Sander Kruszynski, Chris van Antwerpen, Gert Dijk, Judith TNO POB 96864 NL-2509 JG The Hague Netherlands

ISBN: (纸本)9780819495471

The capability to track individuals in CCTV cameras is important for e.g. surveillance applications at large areas such as train stations, airports and shopping centers. However, it is laborious to track and trace people over multiple cameras. In this paper, we present a system for real-time tracking and fast interactive retrieval of persons in video streams from multiple static surveillance cameras. This system is demonstrated in a shopping mall, where the cameras are positioned without overlapping fields-of-view and have different lighting conditions. The results show that the system allows an operator to find the origin or destination of a person more efficiently. The misses are reduced with 37%, which is a significant improvement.

关键词： Surveillance tracking CCTV person re-identification multi-sensor fusion

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